function XYZ = ENU2XYZ(E, N, U, lat0, lon0)
% XYZ 为 ECEF坐标系中坐标
R = [-sin(lon0), cos(lon0), 0;
     -sin(lat0)*cos(lon0), -sin(lat0)*sin(lon0), cos(lat0);
     cos(lat0)*cos(lon0), cos(lat0)*sin(lon0), sin(lat0)];
R0 = 6378137;
XYZ0 = [R0*cos(lat0)*cos(lon0); R0*cos(lat0)*sin(lon0); R0*sin(lat0)];
XYZ = XYZ0 + R.'*[E;N;U];
end